CN1480119A - Rehabilitation training robot for motion of single joint of hemiplegia patient - Google Patents
Rehabilitation training robot for motion of single joint of hemiplegia patient Download PDFInfo
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Abstract
A robot for the recovery training to single joint movements of hemiplegia patient is composed of supporting unit fixed to base, the first driver linked to said supporting unit and moving up and down along a slide track, the second driver fixed to the second horizontal drive axle of said the first driver, and an auxiliary arm unit fixed to the fourth drive axle. Its advantages are high effect to train the movement of shoulder and elbow joints and high safety.
Description
Technical field
The present invention relates to a kind of nervus centralis rehabilitation aided training equipment, particularly a kind of by the simple joint to the apoplectic hemiplegia patient carry out the rehabilitation supplemental training, to promote the supplemental training robot device of its nervus centralis rehabilitation.
Background technology
Hemiplegic patient's rehabilitation training is still based on therapist and patient's's " one to one " training method at present, and promptly the therapist assists the patient to finish various training actions by doing and illustrating.This training method inefficiency and be difficult for to detect therapeutic effect, thereby be unfavorable for the improvement of rehabilitation maneuver.In order to change this situation, be necessary the electromechanics and the intellectual technology of comparative maturity are introduced the hemiparalysis recovery field, to increase work efficiency, to improve rehabilitation efficacy.
The application of electromechanical equipment in hemiparalysis recovery has precedent.The US 5 of people such as Hogan application, 466, a kind of hemiparalysis recovery exercise equipment is disclosed in No. 213 United States Patent (USP)s " interactive robot therapist (interactive robotic therapist) ", this equipment adopts five-bar mechanism, the driving shaft of two drive motors is configured on the same axis, and the motion of mechanism scope is a horizontal plane.During training, this equipment traction patient's carpal joint is finished in the horizontal plane exercises among a small circle, comprises the compound motion of shoulder, elbow joint, and is trained for main motion or is trained for main compound motion among a small circle with elbow joint with shoulder joint.
The US 5 of David J.Reinkensmeyer application, 830, No. 160 United States Patent (USP)s " are used for quantitative Diagnosis and the dyskinetic motion guide of treatment system ", and (Movement guiding system for quantifying diagnosing and treatingimpaired movement performance) discloses a kind of dyskinesia diagnosis and therapeutic equipment, this equipment is a line slideway device, and its angle of pitch can be adjusted.The carriage that can slide is installed on the guide rail, and patient's wrist is fixed on the carriage, can be along the guide rail moving linearly, and whole paralysed limb is the compound motion among a small circle of shoulder, elbow joint.
As can be seen, existing device is all with the master that is trained for of compound motion, and range of movement is less.But,, all need to carry out simple joint motion as far as possible on a large scale clinically usually in order to keep range of motion for hemiplegic patient, especially acute stage hemiplegic patient.Simultaneously, the rule for hemiparalysis recovery still is in the exploratory stage at present, and which kind of training method (compound motion training or simple joint training or both combinations) more is of value to hemiparalysis recovery and is still waiting further investigation.Therefore for the equipment that carries out auxiliary rehabilitation exercise at simple joint urgent demand is arranged.From organization of human body, the motion of shoulder, elbow joint is the basis that the human body upper arm is finished exercises, and therefore the rehabilitation of shoulder, elbow joint is the prerequisite of patient's humeral movement functional rehabilitation; Usually emphasize clinically by of the progressively rehabilitation of near-end joint simultaneously that therefore development is very important at the electromechanical equipment of shoulder, elbow joint training to distal joint.In addition, shoulder joint is one of joint the most flexibly in the human body, has four basic actss, and therefore corresponding aided training equipment should have the function of these four basic actss of the supplemental training finished; The less stable of shoulder joint own is the joint of easy damaged in the human body, and the normal muscular tension of human body disappears after the hemiplegia, and injured probability is bigger, so the supplemental training robot should guarantee the safety of paralysed limb.
Therefore, the weak point of people's such as Hogan invention is to realize the motion in horizontal plane of shoulder joint and elbow joint, for shoulder joint, can only finish and receive this action in the horizontal abduction.And need to realize four actions in the training of the clinical rehabilitation of hemiplegic patient's shoulder joint at least: receive and the inward turning outward turning in act on the place ahead, outreach adduction, the horizontal abduction.In addition, people's such as Hogan invention is not at monarthric grand movement, and the training action at shoulder, elbow joint that this invention can provide is horizontal movement among a small circle, thereby can not fully provide the required motion of nervus centralis rehabilitation to stimulate.
The deficiency of the invention of David J.Reinkensmeyer is that the restriction wrist is a rectilinear motion, thereby shoulder joint and elbow joint can only be restricted compound motion, and range of motion is limited, and training method is single.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art and defective, on the basis that takes into full account simple joint characteristic, clinical training need and safety, a kind of hemiplegic patient's simple joint recovery exercising robot is provided, can realize the various basic actss of hemiplegic patient's paralysis limbs rehabilitation training, satisfy training action than large moving range, guarantee the safety of paralysed limb training.
The objective of the invention is to be achieved through the following technical solutions:
A kind of recovery exercising robot of hemiplegic patient's simple joint motion, this robot comprises:
A. bracing or strutting arrangement that is fixed on the pedestal, this device mainly comprises a rhizoid thick stick and a slide rail;
B. first driving device that is connected on the bracing or strutting arrangement and can moves up and down along described slide rail; This driving device mainly comprises one first drive motors, vertical first driving shaft that links to each other with motor shaft, second driving shaft of a level, and described first driving shaft is connected by two intermeshing bevel gears with second driving shaft;
C. second driving device on level second driving shaft that is fixed on described first driving device, this device mainly comprises second drive motors, vertical the 3rd driving shaft, a 4 wheel driven moving axis parallel with the 3rd driving shaft that links to each other with motor shaft, and described the 3rd driving shaft links to each other by synchronous belt transmission device with the 4 wheel driven moving axis;
D. sub-arm device that is fixed on the 4 wheel driven moving axis, this device mainly comprise big arm, forearm and are separately positioned on paralysed limb bracing or strutting arrangement on big arm and the forearm.
The rotation direction and the sub-arm device of relative first driving device of second driving device of the present invention are vertical mutually with respect to the rotation direction of second driving device.Described second driving device also comprises a shoulder joint bearing, and this bearing is a cantilever beam structures, has a shoulder joint bearing block in the bearing end, the 4 wheel driven moving axis by bearing fixing in the shoulder joint bearing block.
Big arm in the sub-arm device of the present invention is made up of two parts, and these two parts are connected with set bolt by chute; Big arm in the described sub-arm device is connected by fixable hinge with forearm.
Technical characterictic of the present invention also is: described paralysed limb bracing or strutting arrangement comprises inner ring, centre circle and outer ring, and is connected with big arm or forearm by link; Wherein the center of circle of inner ring, centre circle and outer ring is all on the rotating shaft extended line of second horizontal drive shaft; The outer ring is a full circle, and inner ring and centre circle are 1/4～1/2 annulus; The boss that has circumferencial direction on the inboard of described outer ring has the groove on the circumferencial direction on the centre circle outside, the groove on the centre circle cooperates with boss on the outer ring; Have axial notch on the inboard of centre circle, have axial boss on the outside of described inner ring, the axial boss on the inner ring cooperates with axial notch on the centre circle.
The present invention compared with prior art has the following advantages and the salience effect: can realize that 1. the various of healing and training shoulder joint must action.Except realizing four characteristic actions of healing and training shoulder joint clinically: receipts and the inward turning outward turning, can also realize shoulder joint action on other orientation in three dimensions in act on the place ahead, outreach adduction, the horizontal abduction.2. can realize the desired range of movement of healing and training shoulder joint, can assist paralysed limb in the scope that human body allowed, to rotate.3. the clinical needs from hemiplegia patient design, and the center of rotation in the sub-arm of equipment and each joint of paralysed limb remains on the same axis in the training, has avoided paralysed limb is caused tractive or restriction; Paralysis limb bracing or strutting arrangement allows necessary relative motion (motion of circumferencial direction and axially-movable) takes place between paralysed limb and the sub-arm, has further reduced the probability that paralysed limb sustains damage.
Description of drawings
Fig. 1 is a population structure sketch map of the present invention.
Fig. 2 is the structural representation of bracing or strutting arrangement of the present invention.
Fig. 3 is the structural representation of first driving device of the present invention.
Fig. 4 shows the structural representation of the first driving device middle (center) bearing bearing of the present invention.
Fig. 5 is the structural representation of second driving device of the present invention.
Fig. 6 A is the structural representation of sub-arm device of the present invention.
Fig. 6 B is the arm first and the sketch map of the concrete connected mode of arm second portion greatly greatly in the sub-arm device.
Fig. 6 C is the concrete connected mode sketch map of big arm and forearm in the sub-arm device.
Fig. 7 is the structural representation of paralysed limb bracing or strutting arrangement of the present invention.
Fig. 8 A-8C is the centre circle of sub-arm device of the present invention and the structural representation of inner ring.
Fig. 9 is the sketch map that the patient accepts supplemental training of the present invention.
Figure 10 A-10D is that the patient is at the auxiliary sketch map of finishing the typical action of several healing and training shoulder joints down of the present invention.
Figure 11 is that the patient is at the auxiliary rehabilitation training sketch map of finishing elbow joint flexing stretching down of the present invention.
The specific embodiment
Fig. 1 is a population structure of the present invention.As can be seen, the present invention comprises generally: a bracing or strutting arrangement 2 that is fixed on the pedestal 1; First driving device 3 that is connected with bracing or strutting arrangement 2; Second driving device 4 that is connected with first driving device 3; And sub-arm device 5 that is connected with second driving device 4.Wherein first driving device 3 relatively bracing or strutting arrangement 2 move up and down, shown in arrow A among the figure; Second driving device 4 can rotate in vertical relative to first driving device 3, shown in arrow B among the figure; Sub-arm device 5 can relative to second driving device with the perpendicular plane of the second driving device rotational plane in rotate, shown in arrow D among the figure.Patient's paralysis limb and sub-arm device 5 link together in the training, the auxiliary rehabilitation training action that realizes paralysed limb down in robot.
Fig. 2 represents the structure of bracing or strutting arrangement 2 of the present invention, and this device comprises bracing frame 21, slide rail 22, leading screw 23, leading screw fixing head 24, end cap 26, handle 25 and roller bearing 27.Slide rail 22 is for being fixed on the rectangular slab on the bracing frame 21, and two sides are mating surface.Leading screw 23 is a trapezoidal threaded lead screw, has auto-lock function, its lower end is installed in by roller bearing 27 on the base of bracing frame 21, and the upper end is fixed by the leading screw fixing head 24, end cap 26 and the bearing (not shown) that are connected on the bracing frame 21, and turning handle 25 can drive leading screw 23 and rotate.
Fig. 3 is the structural representation of the present invention's first driving device 3.As shown in the figure, first driving device 3 comprises second driving shaft 49, flange 50 and four bearing arrangements 51 that are respectively applied for supporting first driving shaft and second driving shaft of one first drive motors 41, decelerator 42, shaft coupling 43, bearing spider 44, vertical first driving shaft 45, gripper shoe 46, a pair of intermeshing bevel gear 47 and 48, levels.First decelerator 42 is installed on the outfan of first drive motors 41, and motor 41 and decelerator 42 all are fixed on the bearing spider 44.Two bearing arrangements 51 are installed on the bearing spider 44, are used to support first driving shaft 45, and two other bearing arrangement 51 is installed on the gripper shoe 46, be used to support second driving shaft 49.First drive motors 41 is by decelerator 42, shaft coupling 43, first driving shaft 45, intermeshing rectangular bevel gear 47 and 48, with transmission of power to second driving shaft 49, driving is fixed on second driving device 4 on second driving shaft, 49 ends by flange 50, make second driving device 4 and the sub-arm device 5 that is connected on second driving device 4 rotate, shown in the arrow B among Fig. 1.
Fig. 4 is the structure of first driving device, 3 middle (center) bearing bearings 44.As shown in the figure, have screwed hole 52 and chute 53 on the bearing spider 44, wherein screwed hole 52 cooperates with leading screw 23 in the bracing or strutting arrangement 2, chute 53 cooperates with slide rail 22 in the bracing or strutting arrangement 2, both realized being connected of first driving device 3 and bracing or strutting arrangement 2, and guaranteed again when leading screw 23 rotates, can make first driving device 3 move up and down (shown in arrow A among Fig. 1) by the worm drive between screwed hole 52 and the leading screw 23 along slide rail 22.
Fig. 5 represents the structure of second driving device 4 of the present invention.As shown in the figure, second driving device 4 comprises one second drive motors 61, decelerator 62, shaft coupling 63, bearing block casing 64, one the 3rd driving shaft 65, synchronous belt transmission device 66, a shoulder joint bearing 67 and a 4 wheel driven moving axis 68 parallel with the 3rd driving shaft.Decelerator 62 is installed on the outfan of second drive motors 61, and motor 61 and decelerator 62 all are fixed on the bearing block casing 64.One end of bearing block casing 64 is by flange 50 and be bolted on level second driving shaft 49 of first driving device 3, rotates under the driving of first driving device 3; Fixing a shoulder joint bearing 67 on its other end, the end of bearing 67 has shoulder joint bearing block 71, the 4 wheel driven moving axis 68 and is installed in the shoulder joint bearing block 71 by bearing.Bearing block casing 64 also provides supporting for the 3rd driving shaft 65.Drive motors 61 by decelerator 62, shaft coupling 63, the 3rd driving shaft 65 and synchronous belt transmission device 66 with transmission of power to 4 wheel driven moving axis 68, drive the sub-arm device 5 that is fixed on the 4 wheel driven moving axis 68 and rotate, shown in arrow D among Fig. 1.Should be understood that, the rotation direction of second driving device 4 (B among Fig. 1) is vertical with the rotation direction (D among Fig. 1) of sub-arm device 5 all the time, like this when first and second drive motors 41 and 61 drive simultaneously, can realize the three-dimensional space motion of sub-arm device 5, thereby can assist paralysed limb to realize the training of three dimensions action; In addition, shoulder joint bearing 67 is cantilever beam structures, jib-length is 150～200mm, 4 wheel driven moving axis 68 is packed into behind the shoulder joint bearing block 71, drive by synchronous belt transmission device 66 by the 3rd driving shaft, obviously, the standoff distance of other parts of 4 wheel driven moving axis 68 and first driving device 3 and second driving device 4 is the jib-length of shoulder joint bearing 67, this distance arrives the patient back greater than paralysed limb shoulder joint center of rotation or arrives the distance in the paralysed limb upper arm outside, this aligns with paralysed limb shoulder joint center of rotation the shoulder joint center of rotation (i.e. 4 wheel driven moving axis 68) of sub-arm device 5 in the rehabilitation training process with regard to allowing in horizontal plane and vertical, and can not cause interfering between robot components and the patient's limbs.After the alignment of the center of rotation of the center of rotation of robot shoulder joint and paralysed limb shoulder joint, sub-arm device 5 has been avoided when paralysed limb provides assist torque direct tractive of paralysed limb or restriction, has reduced paralysed limb and has caused the probability damaged because of tension and pressurized.
Fig. 6 A is the detailed structure of sub-arm device 5 of the present invention.As shown in the figure, sub-arm device 5 comprises a big arm 81, forearm 82 and two paralysed limb bracing or strutting arrangements 83.Wherein big arm comprises a big arm first 84 and a big arm second portion 85, is connected with chute 88 by bolt 86 between two parts.Big arm first 84 is fixedly connected on the 4 wheel driven moving axis 68 of second driving device 4, and big arm second portion 85 is connected with forearm 82 with clamping sleeve 93 by bolt 91.Two paralysed limb bracing or strutting arrangements 83 are installed in respectively on big arm second portion 85 and the forearm 82, and its position can be adjusted, to be fit to the length and the center of gravity of particular patient paralysis limb.
Fig. 6 B shows the big arm first 84 of big arm 81 in the sub-arm device 5 and the concrete connected mode of big arm second portion 85.As shown in the figure, has a chute 88 in the big arm first 84, have two perforates 89 on the big arm second portion 85, in described chute 88 and perforate 89, penetrate bolt 86 and by nut 87 fastening after, big arm first 84 and big arm second portion 85 can be fixed together; After unclamping nut 87, move bolt 86 and big arm second portion 85 back fastening nuts 87, can change the length of whole big arm 81, to adapt to the length of different patient's paralysis limb upper arm along described chute 88.
Fig. 6 C is the big arm second portion 85 of sub-arm device 5 and the concrete connected mode of forearm 82.As shown in the figure, forearm 82 is connected by bolt 91 with big arm second portion 85, form a hinge, thereby forearm 82 can rotate (shown in arrow E among Fig. 1) relative to big arm second portion 85; A clamping sleeve 93 is installed on bolt 91 with one heart, and this clamping sleeve is placed in the hole 90 on the end of big arm second portion 85 (shown in Fig. 6 B) simultaneously; The lower surface of clamping sleeve 93 contacts with forearm 82, and after nut 92 was tightened, clamping sleeve 93 tightly was pressed in forearm 82 on the big arm second portion 85, fixes by frictional force between forearm 82 and the big arm second portion 85; After unclamping nut 92, the angle between big arm 81 and the forearm 82 can be regulated,, and the training (as shown in figure 10) of paralysed this action of limb shoulder joint inward turning outward turning can be realized so that for the patient provides optimal training posture.
Fig. 7, the 8th, the sketch map of the present invention's paralysis limb bracing or strutting arrangement 83.As shown in Figure 7, paralysed limb bracing or strutting arrangement 83 comprises connector 91, outer ring 92, centre circle 93 and inner ring 94.Connector 91 is connected whole paralysed limb bracing or strutting arrangement 83 on big arm second portion 85 or the forearm 82 by screw bolt and nut, after installing, when the big arm 81 of sub-arm device 5 and the angle between the forearm 82 are 180 °, on the extended line of the level that is centered close to first driving device 3 second driving shaft 49 of the outer ring 92 of two paralysed limb bracing or strutting arrangements 83, centre circle 93 and inner ring 94.The outer ring 92 of paralysis limb bracing or strutting arrangement 5 is a cirque structure, fixedlys connected with connector 91 in its upper end, and inside has the boss 101 of circumferencial direction.Centre circle 93 and inner ring 94 are 1/3rd circles, and maximum is no more than 1/2nd circles, and minimum is no more than quadrant, and wherein inner ring 94 slightly is longer than centre circle 93, so that punch on the edge on the inner ring 94, by the fixing paralysed limb of belt.Has a groove 102 (Fig. 8 A) on the circumferencial direction on the outside of centre circle 93, after centre circle 93 is packed outer ring 94 into, groove 102 on the centre circle 93 cooperates with boss 101 on the outer ring 92, allow centre circle 93 to slide along the direction shown in the arrow G among Fig. 7, but axially-movable can not take place with respect to outer ring 92.The inboard of centre circle 93 has two axial notches 103 (Fig. 8 B).Have two axial boss 104 (Fig. 8 C) on the outside of inner ring 94, behind inner ring embedded centre circle 93, axial boss 104 on the inner ring 94 cooperatively interacts with axial notch 103 on the centre circle 93, allows inner ring 94 along groove 103 endwisely slip (shown in the arrow F among Fig. 7).In the rehabilitation training process, boss 101, groove 102, groove 103 and boss 104 guarantee that robot can provide necessary assisted movement to paralysed limb, does not limit the freely-movable of paralysed limb again, thereby has guaranteed the safety of paralysed limb.
With reference to Fig. 9, the method for using the present invention to carry out hemiplegic patient's auxiliary rehabilitation exercise is simply described.As shown in the figure, patient 11 is sitting on the chair 12, and robot is arranged in the proceeds posterolateral of chair 12, and the upper arm of patient's 11 paralysed limbs and forearm are placed on respectively on the inner ring 94 of two paralysed limb bracing or strutting arrangements 83; Adjust the position of chair 12 with respect to robot base 1, make patient's paralysis limb shoulder joint horizontally rotate the center and robot shoulder joint center of rotation (the 4 wheel driven moving axis 68 of second driving device 4) remains on the same axis, as I-I line among Fig. 9; Drive first drive motors 1 and rotate 90 °,, adjust robot shoulder joint center of rotation and paralysed limb shoulder joint center of rotation and in vertical, be positioned on the same axis, as II-II line among Figure 10 A then by the handle 25 of rotary supporting device 2; Through above-mentioned adjustment, determined hemiplegic patient position on chair, the patient is carried out suitably fixing with belt then; After the mutual alignment of paralysed limb and robot is fixing, according to parameters such as the length of paralysed limb upper arm and forearm and centers of gravity, adjust the length (relative position between big arm first 84 and the big arm second portion 85) and the position of paralysed limb bracing or strutting arrangement 83 on robot ' s arm second portion 85 and forearm 82 of robot ' s arm, make it to be suitable for specific hemiplegic patient; After all structural adjustments finish, be fixed together with inner ring 94 by rights, and make the palsying limb hand arm be in the center of paralysed limb supporting arrangement 84 as far as possible, so that the concordance that keeps robot sub-arm device 5 and palsying limb hand arm to move better; Then according to the angle between the action that will train and paralysed limb situation adjustment robot ' s arm 81 and the forearm 83; Start first and second drive motors 41,61 at last, driven machine people's sub-arm device 5 is finished the rehabilitation supplemental training.
Show among Figure 10 A-10D that the patient at the auxiliary typical action of finishing several healing and training shoulder joints down of the present invention, receives (Figure 10 C) and inward turning outward turning (Figure 10 D) comprising lifting on the place ahead in (Figure 10 A), outreach adduction (Figure 10 B), the horizontal abduction.As shown in the figure, when finishing the auxiliary movement of lifting on the place ahead, the rotating shaft of second drive motors 61 is positioned at horizontal plane, finishes the driving to sub-arm device 5 separately.When finishing the outreach adduction auxiliary movement, the rotating shaft of second drive motors 61 is positioned at vertical, is driven separately by first drive motors 41.Finish when receiving action in the horizontal abduction, the rotating shaft of second drive motors 61 is positioned at vertical, independent driving to sub-arm device 5.When carrying out shoulder joint inward turning outward turning (Figure 10 D) training, the big arm second portion 85 of sub-arm device 5 and the angle between the forearm 82 are adjusted into one less than 180 ° angle, typically be 90 °, this moment, first drive motors 41 drove separately, realized the rotation of sub-arm device 5 and paralysed limb.Although what show among the figure is that shoulder joint is at the auxiliary several typical training action of finishing down of the present invention, be to be understood that, the present invention also can finish the action of other movement locus, first drive motors 41 and second drive motors, 61 coordinated drive at this moment by sub-arm device 5 auxiliary paralysed limb shoulder joint.
When needs carry out auxiliary rehabilitation exercise to paralysed limb elbow joint, can with the forearm in the sub-arm device 5 82 and and on paralysed limb bracing or strutting arrangement 83 remove, only keep big arm 81 and on paralysed limb bracing or strutting arrangement 83.As shown in figure 11, mobile chair 12, adjust patient 11 position, robot shoulder joint center of rotation (the 4 wheel driven moving axis 68 of second driving device 4) is alignd in horizontal plane with the center of rotation of paralysed limb elbow joint, and (this moment, paralysed limb elbow joint needed to support in addition, for example by other stent support), second drive motors 61 drives the 3rd driving shaft 65 separately, driving 4 wheel driven moving axis 68 by synchronous belt transmission device 66 rotates, thereby drive sub-arm device 5, auxiliary paralysed limb elbow joint is realized the rehabilitation training of flexing stretching.
Claims (7)
1. the recovery exercising robot of hemiplegic patient's simple joint motion, it is characterized in that: this robot comprises:
A. bracing or strutting arrangement (2) that is fixed on the pedestal (1), this device mainly comprises a rhizoid thick stick (23) and a slide rail (22);
B. first driving device (3) that is connected on the bracing or strutting arrangement and can moves up and down along described slide rail; This device mainly comprises second driving shaft (49) of one first drive motors (41), vertical first driving shaft (45) that links to each other with motor shaft, a level, and described first driving shaft is connected by two intermeshing bevel gears (47,48) with second driving shaft;
C. second driving device (4) on level second driving shaft that is fixed on described first driving device, this device mainly comprises one second drive motors (61), vertical the 3rd driving shaft (65), a 4 wheel driven moving axis (68) parallel with the 3rd driving shaft that links to each other with motor shaft, and described the 3rd driving shaft links to each other by synchronous belt transmission device (66) with the 4 wheel driven moving axis;
D. sub-arm device (5) that is fixed on the 4 wheel driven moving axis, this device mainly comprise big arm (81), forearm (82) and are separately positioned on paralysed limb bracing or strutting arrangement (83) on big arm and the forearm.
2. according to the recovery exercising robot described in the claim 1, it is characterized in that: the rotation direction and the sub-arm device of relative first driving device of described second driving device are vertical mutually with respect to the rotation direction of second driving device.
3. according to the recovery exercising robot described in the claim 1, it is characterized in that: described second driving device also comprises a shoulder joint bearing (67), this bearing is a cantilever beam structures, have a shoulder joint bearing block (71) in this bearing end, the 4 wheel driven moving axis by bearing fixing in the shoulder joint bearing block.
4. according to the recovery exercising robot described in the claim 3, it is characterized in that: the long 150～200mm of described shoulder joint bearing.
5. according to the recovery exercising robot described in the claim 1, it is characterized in that: the big arm in the described sub-arm device (5) is made up of two parts, and these two parts are connected with set bolt by chute (88).
6. according to the simple joint recovery exercising robot described in claim 1 or 5, it is characterized in that: the big arm in the described sub-arm device is connected by fixable hinge with forearm.
7. according to the recovery exercising robot described in the claim 1, it is characterized in that: described paralysed limb bracing or strutting arrangement (83) comprises inner ring (94), centre circle (93) and outer ring (92), and is connected with forearm with big arm respectively by link; Wherein the center of circle of inner ring, centre circle and outer ring is all on the rotating shaft extended line of second horizontal drive shaft (49); The outer ring is a full circle, and inner ring and centre circle are 1/4～1/2 annulus; The boss (101) that has circumferencial direction on the inboard of described outer ring has the groove (102) on the circumferencial direction on the centre circle outside, the groove on the centre circle cooperates with boss on the outer ring; Have axial notch (103) on the centre circle inboard, described inner ring has axial boss (104) on the outside, and the axial boss on the inner ring cooperates with axial notch on the centre circle.
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| CN 03150356 CN1258352C (en) | 2003-07-25 | 2003-07-25 | Rehabilitation training robot for motion of single joint of hemiplegia patient |
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